Why do you have to have separate SSIDs in the current setup, with Orbi R7000 as the router and the mesh (RBR50 / RBS50) as access point/satellite? Can't you simply match the Orbi R7000 SSID onto the mesh network?
I would keep the cable modem wi-fi off. I would have only the main router connected to it via one ethernet cable, and keep the entire LAN behind that, including the secondary access point and satellite.
I would also keep the access point/satellite connected via ethernet to the main router if possible.
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